Driving device, moving device and method for moving of a moving device

Abstract

The invention relates to a drive device (10) for two movement elements (12, 14) attachable to the extremities of a user, comprising: a traction drive (16) with a traction element (18) and a drive unit (20), a traction element deflection device (22); an energy storage device (24); a sensor unit (26) for detecting spatial self-movement; and a control device (28) for controlling the drive unit (20); wherein the drive unit (20) and the traction element deflection device (22) can be attached to a first of the two motion elements (12), and wherein the traction element drive (16) is designed such that the traction element (18) comprises a first and a second length section (30, 32), the respective first and second lengths of which are periodically varied when the drive device (10) is used by means of the drive unit (20), wherein an increase in the length of the first length section (30) is accompanied by a decrease in the length of the second length section (32) and vice versa.The present invention further relates to a motion device (58) with such a drive device (10) and a method (100) for moving two motion elements (12, 14) of a motion device (58) in an axial forward direction (72).

Description

[0001] The present invention relates to a drive device for two movement elements that can be attached to the extremities of a user, a movement device with such a drive device and a method for moving such a movement device.

[0002] Walking, hiking, stair climbing, ski touring, snowshoeing, etc., require periodically repetitive movements for the intended movement. Particularly when longer distances are to be covered, these constantly repetitive movements can be very strenuous for the user. If the activity is a leisure / sports activity, this can be discouraging, especially for less-trained users. This can then lead to the less-trained users, who would disproportionately benefit from such a sporting activity, refraining from the activity.

[0003] WO 2017 / 148643 A1 describes a twin platform arrangement for bindings of a winter sports device. In this document, the platforms are coupled either with a cable or, alternatively, with actuators and sensors.

[0004] Various devices are already known from the prior art to facilitate leisure and sports activities. For example, WO 2015 / 104663 A1 describes a drive device for skis that facilitates climbing a mountain slope by means of a track drive mounted beneath the ski. A similar design is also known from DE 202 21 385 U1, in which the track drive extends over the entire length of the ski. WO 2018 / 141890 A1 describes a ski equipped with a drive gear extending through the gliding surface of the ski, which provides the appropriate propulsion. What all of these known devices have in common is that their field of application is very specific and / or their use requires considerable practice. These devices do not take into account the usual movement sequence required when no supporting drive is present.Furthermore, the power assistance is highly dependent on the surface, as the driving force is transferred directly to the ground. Therefore, there is a need for a device that is easy to use and also versatile.

[0005] To achieve this object, an embodiment of a drive device for two movement elements that can be fastened to the extremities of a user is described, comprising a traction mechanism drive with a traction mechanism and a drive unit, a traction mechanism deflection device; an energy storage device; a sensor unit for detecting a spatial movement; and a control device for controlling the drive unit; wherein the drive unit and the traction mechanism deflection device can be fastened to a first of the two movement elements, and wherein the traction mechanism drive is designed such that the traction mechanism comprises a first and a second length section, the respective first and second lengths of which are periodically varied by means of the drive unit when the drive device is used, wherein an increase in the length of the first length section is accompanied by a decrease in the length of the second length section and vice versa.Such a drive device, when attached to the movement elements, can facilitate the user's movement by supporting the user's natural movement sequence in such a way that the user himself has to exert less force. The degree of assistance can be flexibly determined with the help of the control device and the sensor unit. For example, the sensor unit can detect an acceleration, in particular of one of the user's extremities or one of the movement elements, and this acceleration can be interpreted by the control device as an intention to move, whereupon the drive device is controlled by the control device in order to initiate a preset level of assistance for the detected intended movement. The two movement elements can in particular be gliding elements or sliding elements, for example skis, as are commonly used in touring skis.It can also be used in conjunction with a detachable snowboard, regular skis, or cross-country skis. To use the drive, it is attached to the two moving elements, with the moving element not pressed against the ground being pulled forward in the direction of travel relative to the other by means of the traction mechanism. A rope, belt, chain, (fabric) band, or similar can be used as the traction mechanism.

[0006] Usefully, the traction mechanism deflection device and / or the drive unit can include traction mechanism tensioning means. The traction mechanism tensioning means maintains the traction mechanism at a substantially constant tension, which reduces force peaks during power transmission between the drive unit and the traction mechanism.

[0007] Furthermore, the traction means may comprise two unconnected ends that can be attached to a second of the two moving elements at two different, spaced-apart points. In this way, a force transmission across the two moving elements can be realized.

[0008] Advantageously, a vertical projection of the traction mechanism onto a plane defined by the two movement elements can have an intersection point. The plane defined by the two movement elements essentially corresponds to the respective main plane of the movement elements. For example, in a pair of skis, this plane is defined by the gliding surface of the skis, which are aligned essentially plane-parallel to each other. The intersection point can be used as a reliable scale / measurement point.

[0009] It can also be provided that the first longitudinal section extends between the intersection point and the drive unit, and that the second longitudinal section extends between the intersection point and the traction mechanism deflection device. By defining the longitudinal sections, a verifiable assessment of the drive unit with regard to adjustable movement cycles and transmitted force is possible.

[0010] Advantageously, it can also be provided that the drive unit further comprises a further traction mechanism drive with a further traction mechanism and a further drive unit, wherein the further drive unit can be fastened to a second of the two movement elements, a further traction mechanism deflection device and a coupling element that fixes the traction mechanism and the further traction mechanism in its interior. By providing two traction mechanisms, a symmetrical design of the drive unit can be achieved, which is advantageous with regard to weight distribution and allows for increased comfort during use. The coupling element can in particular be designed such that it can transmit force in the axial forward direction between the two traction mechanisms, while releasing the coupling element in the direction perpendicular thereto is easily possible.

[0011] Usefully, it can be provided that the further traction means deflection device and / or the further drive unit comprises further traction means tensioning means.

[0012] Furthermore, it can be provided that the traction means and the further traction means each form a closed loop.

[0013] It can further be provided that the first longitudinal section extends between the coupling element and the drive unit, and the second longitudinal section extends between the coupling element and the traction mechanism deflection device. By defining the longitudinal sections, a verifiable assessment of the drive unit with regard to adjustable movement cycles and transmitted force is possible.

[0014] Also described is a movement device with such a drive device comprising the two movement elements and binding elements in order to releasably connect the two movement elements to one extremity of a user.

[0015] It can advantageously be provided that the two movement elements comprise retaining elements on one side which hinder movement in an axial backward direction.

[0016] It can also be provided that the movement device further comprises two spatially fixed bearings, each of which movably supports one of the two movement elements.

[0017] Also described is a method for moving two movement elements of a movement device in an axial forward direction, wherein the movement device comprises the two movement elements and a drive device, the two movement elements are provided with binding elements, each of which is detachably connected to a user's extremity, and the drive device is provided with a traction mechanism drive, comprising a traction mechanism and a drive unit, a traction mechanism deflection device, an energy store, a sensor unit for detecting a spatial movement of the user, and a control device for controlling the drive unit, wherein the drive unit and the traction mechanism deflection device are fastened to a first of the two movement elements, and wherein the method comprises detecting, by the sensor unit, a movement of the user's own movement; shortening, by the drive unit, the first length section;the lengthening, by the drive unit, of the second longitudinal section, simultaneously with the shortening of the first longitudinal section, so that the first movement element is moved relative to the second movement element in the axial forward direction; the detection, by the sensor unit, of an intrinsic movement of the second movement element; the shortening, by the drive unit, of the second longitudinal section; and the lengthening, by the drive unit, of the first longitudinal section, simultaneously with the shortening of the second longitudinal section, so that the second movement element is moved relative to the first movement element in the axial forward direction. In this way, the advantages and special features of the movement device according to the invention are also implemented within the framework of a method.

[0018] They show: Figure 1 shows an idealized top view of an exemplary movement device with an exemplary drive device; Figure 2 shows an idealized isometric view of an exemplary movement device with an exemplary drive device; Figure 3 shows an idealized top view of another exemplary movement device with an exemplary drive device; Figure 4 shows an idealized top view of an exemplary movement device with an exemplary drive device; Figure 5A shows an idealized isometric view of an exemplary movement device with an exemplary drive device; Figure 5B shows an idealized isometric view of another exemplary movement device with an exemplary drive device; Figure 6 shows yet another idealized isometric view of an exemplary movement device with an exemplary drive device; Figure 7 shows a detailed view of a coupling element;Figures 8A, 8B, 8C show further partial views of the exemplary coupling element in various locking states; Figures 9A, 9B show exemplary traction mechanism configurations; Figure 10 shows a schematic detailed view of a drive unit; Figure 11 shows a schematic detailed view of a traction mechanism deflection device; Figure 12 shows a visualization of the spatial movement of the movement device in an axial forward direction; and Figure 13 shows a flowchart of a method for moving two movement elements of a movement device in an axial forward direction.

[0019] In the following description of the drawings, the same reference symbols refer to the same or comparable components.

[0020] Figure 1shows an idealized top view of an exemplary movement device 58 with an exemplary drive device 10. The movement device 58 comprises, in addition to the drive device 10, in particular a first movement element 12 and a second movement element 14, wherein the drive device 10 is partially fastened to the first movement element 12 and the second movement element 14. In the exemplary representation of Figure 1A drive unit 20 and a traction means deflection device 22 are attached to an upper side of the first movement element 12. A point 40 and a point 42, each serving as a fixing point for a traction means 18, are attached to the second movement element 14. In the exemplary movement device 58, the traction means 18 runs from point 40 to the traction means deflection device 22, further to the drive unit 20 and to point 42, with the traction means 18 being attached at points 40, 42 by its respective ends 36, 38. This creates an intersection point 44 in a vertical projection of the traction means 18 onto a plane defined by the two movement elements 12, 14.In a lateral view, the traction means 18 would run above the plane of the two movement elements 12, 14 offset from one another, since the traction means 18 has slightly different distances perpendicular to the plane defined by the two movement elements 12, 14 at the respective sections at the intersection point 44 compared to the first movement element 12 and the second movement element 14.

[0021] The drive unit 20, the traction mechanism deflection device 22, and the two points 40, 42 can be attached to the two movement elements 12, 14 using a suitable adhesive. In this context, it is possible to first glue anchor elements to the surface of the two movement elements 12, 14 and then lock the drive unit 20, the traction mechanism deflection device 22, and the two points 40, 42 to the respective anchor elements. This can be particularly advantageous when retrofitting existing movement elements 12, 14 with the described drive device 10. It is also possible for the drive unit 20, the traction mechanism deflection device 22, and the two points 40, 42 to be screwed to the two movement elements 12, 14 or to be detachably connected to them using clamping elements. Assembly and disassembly can be carried out quickly and easily in this way.

[0022] The drive unit 20 in the exemplary drive device 10 comprises a control unit 28 which is designed to control the drive unit 20. The control of the drive unit 20 by the control device 28 is based on data which a sensor unit 26 detects. Figure 1 The sensor unit 26 is shown as being arranged on the traction mechanism deflection device 22. The traction mechanism deflection device 22 can also accommodate an energy storage device 24, which is necessary for supplying the drive unit 20 with the required drive energy, for example electrical energy. For this purpose, i.e. for data transmission and energy supply, the drive unit 20 and the traction mechanism deflection device 22 can be connected by means of a connecting cable, which is Figure 1not shown, be connected to one another. The arrangement of the control device 28 in the drive unit 20 and of the sensor unit 26 and the energy storage device 24 in the traction means deflection device 22 is optional. Alternative spatial arrangements are possible. In particular, a weight distribution of the first movement element 12 and the second movement element 14 can be taken into account, since the most even weight distribution possible is desirable. It is conceivable, for example, that some of the required components, such as the energy storage device and / or the control unit, are carried directly by the user. For this purpose, a backpack, for example, can be provided.

[0023] The drive device 10 comprises the traction mechanism drive 16 with the traction mechanism 18, the drive unit 20 and the traction mechanism deflection device 22 as well as the energy storage device 24, the sensor unit 26 and the control device 28.

[0024] Binding elements 60 are shown on the first movement element 12 and the second movement element 14, respectively, by means of which the extremities of a user can be fastened to the respective movement elements 12, 14. The binding elements 60 can, for example, be couplings for ski boots if the two movement elements 12, 14 are skis. Figure 1 In the exemplary movement device 58, the traction means 18 extends between the binding element 60 arranged there and the surface of the first movement element 12. Other guides for the traction means 18 are possible. The drive unit 20 can also be provided at a different location, for example, in the area of the binding elements 60, which can also be advantageous with regard to weight distribution.

[0025] During use, the first movement element 12 is alternately moved relative to the second movement element 14 in an axial forward direction 72, i.e., opposite to an axial reverse direction 66. The drive unit 20 is controlled by the control device 28 such that, with the aid of the traction mechanism 18, force is exerted on the first movement element 12 or the second movement element 14 in the axial forward direction 72 in order to at least support a natural walking movement of the user using the movement device 58. In order to keep undesirable transverse forces (relative to the axial forward direction 72) as low as possible, the traction mechanism drive 18 is arranged as close as possible to the inside of the two movement elements 12, 14.

[0026] Figure 2 shows an idealized isometric view of an exemplary movement device with an exemplary drive device. In the Figure 2In the movement device 58 shown, the traction means 18 represents a self-contained loop. The traction means 18, which runs on the first movement element 12 via the drive unit 20 and the traction means deflection device 22, is not fixed to the second movement element 14. Rather, a further drive unit 50 and a further traction means deflection device 52 are fastened to the second movement element 14, which, symmetrically to the part of the traction means drive 16 fastened to the first movement element 12, form a further traction means drive 46 which comprises a further traction means 48. The further traction means 48 and the traction means 18 are connected to one another between the first movement element 12 and the second movement element 14 via a coupling element 54, which will be described in more detail later.The coupling element 54 can in particular be fixed to the traction means 18 and the further traction means 48 in such a way that a force can be exerted on the first movement element 12 or the second movement element 14 in the axial forward direction 72 via the drive unit 20 or the further drive unit 50.

[0027] Similar to the one from Figure 1 already known exemplary movement device 58 can be used in the Figure 2In the exemplary movement device 58 shown, a control device 28, or parts thereof, can again be provided in the drive unit 20 and / or the further drive unit 50. In the same way, the sensor unit 26 can be arranged in the traction means deflection device 22 and / or the further traction means deflection device 52. In particular, it is possible to provide a sensor of the sensor unit 26 in each of the traction means deflection device 22 and the further traction means deflection device 52, which sensor detects accelerations which act on the first movement element 12 or the second movement element 14 when walking. Furthermore, energy storage devices 24 can each be provided in the traction means deflection device 22 and the further traction means deflection device 52.

[0028] Figure 3 shows an idealized top view of another exemplary movement device 58 with an exemplary drive device 10. The Figure 3The exemplary movement device 58 shown corresponds in large parts to the one already described in Figure 2 illustrated movement device 58. In contrast to Figure 2 are at Figure 3 However, the control device 28 in the drive unit 20 and a further control device 28a in the further drive unit 50 are explicitly indicated. Furthermore, in addition to the sensor unit 26 and the energy storage device 24 in the traction means deflection device 22, a further sensor unit 26a and a further energy storage device 24a in the further traction means deflection device 52 are explicitly indicated. This configuration has already been described in connection with the Figure 2 described exemplary movement device 58 is mentioned. In contrast to the one in Figure 2 The movement device 58 shown in Figure 3The movement device 58 shown modifies the guidance of the traction means 18 and the additional traction means 48. Thus, the traction means 18 and the additional traction means 48 each extend offset inwards relative to the illustrated binding elements 60. This has the advantage, on the one hand, that the binding elements 60 do not have to provide guidance for the traction means 18 or the additional traction means 48. On the other hand, forces occurring when using the movement device 58 that are not parallel to the axial forward direction 72 are further minimized. The indicated offset of the guidance of the traction means 18 or the additional traction means 48 can be realized, for example, with a cable duct-like construction.

[0029] Figure 4 shows a further idealized top view of an exemplary movement device 58 with an exemplary drive device 10. The Figure 4The movement device 58 shown is similar in many respects to the movement devices 58 already described in the Figures 2 and 3 . At the Figure 4 However, in the exemplary movement device 58, the drive unit 20 and the further drive unit 50 as well as the traction means deflection device 22 and the further traction means deflection device 52 are modified such that the traction means 18 and the further traction means 48 run between the two movement elements 12, 14 parallel to the axial forward direction 72. In this way, too, forces that do not run parallel to the axial forward direction 72 can be minimized when using the movement device 58 shown.

[0030] Figure 5A shows yet another idealized isometric view of an exemplary movement device 58 with an exemplary drive device 10. The Figure 5AThe movement device 58 shown corresponds in large part to the one used in connection with Figure 2 The movement device 58 described above is different from the first movement element 12 and the second movement element 14, respectively, which comprise retaining elements 62, 64 which allow a movement of the respective movement element 12, 14 in the axial forward direction 72 and at the same time counteract a movement of the same in the axial rearward direction 66. Furthermore, in the Figure 5A In the exemplary movement device 58 shown, the binding elements 60 are arranged substantially perpendicular to the plane defined by the two movement elements 12, so that the movement device 58 can be used, for example, as a climbing aid for ladders or the like, wherein the two retaining elements 62, 64 can then each engage on securing elements, ladder rungs or the like.

[0031] The Figures 1 to 5AThe exemplary movement devices 58 shown are all designed to support a user's movement. However, in principle, they can also be used to inhibit / hamper the user's movement, which may be desirable, for example, if an additional training effect is to be achieved.

[0032] Figure 5B shows an idealized isometric view of another exemplary movement device 58 with an exemplary drive device 10. The Figure 5B The further movement device 58 shown as an example essentially corresponds to the one already shown in Figure 2 already known movement device 58. In contrast to this, the one in Figure 5BHowever, in the illustrated movement device 58, the coupling element 54 is fixed in space and the two movement elements 12, 14 are movably mounted on fixed bearings 68, 70 at the front and rear end regions of the two movement elements 12, 14. The fixed bearings 68, 70 can in particular comprise rollers 76, 78 on which the two movement elements 12, 14 can run. Figure 5B The movement device 58 shown can be used, for example, as a training unit or as a rehabilitation unit. As mentioned with the previously described movement devices 58, the Figure 5B The movement device 58 shown can optionally support the movement in the axial forward direction 72 or make it more difficult, for example in order to increase a training effect.

[0033] Figure 6shows a further idealized isometric view of an exemplary movement device 58 with an exemplary drive device 10. The Figure 6 The movement device 58 shown essentially corresponds to the one already shown in Figure 2 previously known movement device 58, whereby now, however, the two movement elements 12, 14 are explicitly indicated as skis and shoes 74, 74a are depicted stylized on the binding elements 60, which are no longer designated in more detail. The shoes 74, 74a then naturally accommodate the extremities, i.e., the feet, of the user of the movement device 58 and are connectable or connected in the usual way to the binding elements 60, which are no longer designated in more detail. Figure 6 The movement device 58 shown can be used, for example, in touring skis.

[0034] The characteristics of the various related to the Figures 1 to 6The illustrated movement devices 58, in particular different guides of the traction mechanism drives 18, 46 as well as the respective configuration of the existing drive units 20, 50 and the traction mechanism deflection device 22, 52, can of course be combined or replaced with one another, even if, in order to improve clarity, separate exemplary movement devices 58 have been illustrated in the present description. Furthermore, the retaining elements 62, 64 and the angled arrangement of the binding elements 60 (angled relative to the planes defined by the movement elements 12, 14) can also be transferred to the other exemplary movement devices 58 if necessary.

[0035] Figure 7 shows a detailed view of a coupling element. In Figure 7The coupling element 54 is shown in the locked state. The traction means 18 and the additional traction means 48 are guided through the coupling element 54 parallel to the axial forward direction 72 and parallel to the axial rearward direction 66, respectively, wherein the traction means 18 and the additional traction means 48 are fixed relative to the coupling element 54, so that the traction means 18 and the additional traction means 48 can pass through the coupling element 54 but cannot slide through the coupling element 54. A force on the traction means 18 substantially parallel to the axial forward direction 72 accordingly causes a force in the axial forward direction 72 on the coupling element 54 itself, and in this way also a transmission of the force from the traction means 18 to the additional traction means 48.In the same way, a force substantially parallel to the axial rearward direction 66 can also be transmitted via the coupling element 54 between the traction means 18 and the further traction means 48.

[0036] In the Figures 8A , 8B and 8C different states of the coupling element 54 are described. In Figure 8Athe coupling element 54 is shown in an open state. In this state, a first coupling sub-element 80a and a second coupling sub-element 80b, which together form the coupling element 54, are shown separated from one another. The first coupling sub-element 80a and the second coupling sub-element 80b each comprise grooves 82 and tongues 84, which can be guided into one another perpendicular to the axial forward direction 72 and the axial rearward direction 66, respectively. For this purpose, the grooves 84 and the tongues 82 are designed such that the grooves are slightly wider at their narrowest point than the tongues 82 at their widest point. In this way, a slight play parallel to the axial forward direction 72 can be realized between the first coupling sub-element 80a and the second coupling sub-element 80b.Since the flanks of the grooves 84 or the associated tongues 82 are angled by the selected configuration with respect to the axial forward direction 72 and the perpendicular joining direction of the two coupling sub-elements 80a, 80b, an additional holding force is created when the coupling sub-elements 80a, 80b are joined together, which counteracts a loosening of the connection between the two coupling sub-elements 80a, 80b when using the respective movement device 58. When using the movement device 58, the coupling state of the coupling element 54 then alternates between the states shown in the . Figures 8A , 8B and 8C shown states, since in each case either a (predominant) force is applied to the traction means 18 ( Figure 8B ) or a (predominant) force on the further traction means 48 ( Figure 8C) is exerted. The holding together of the coupling element 54 can be additionally improved, for example, by included magnets, which exert a holding force on the two coupling sub-elements 80a, 80b in the direction perpendicular to the axial forward direction 72. Such a Figures 7 , 8A , 8B and 8C The magnetic holder, not explicitly shown, could also be used to mount the respective coupling sub-element 80a, 80b separately from each other on the first movement element 12 or the second movement element 14 when the movement device 58 is not used but is already attached to the two movement elements 12, 14.

[0037] The opening and closing of the coupling element 54 can be controlled by an external impulse, for example, by manually locking / unlocking a mechanical lock. It is also possible to provide an electromagnetic lock controlled by the control unit 28. This also has the advantage that if the control unit 28 detects a fall by the user, the coupling element 54 can be automatically unlocked, which significantly reduces the risk of injury to the user.

[0038] The Figures 9A and 9B show schematic traction device configurations. The Figure 9A The traction mechanism configuration shown is taken from the Figure 1illustrated movement device 58. A first longitudinal section 30 of the traction means 18 runs between the drive unit 20 and the intersection point 44, and a second longitudinal section 32 runs between the intersection point 44 and the traction means deflection device 22. When using the associated movement device 58, the traction means 18 is moved by the drive unit 20, wherein due to the fixed distances between the drive unit 20, the traction means deflection device 22, and the points 40, 42, a variation of the first longitudinal section 30 and the second longitudinal section 32 occurs. This variation occurs simultaneously. When moving the first movement element 12, to which the drive unit 20 and the traction means deflection device 22 are attached, in the axial forward direction 72, the first longitudinal section 30 initially becomes longer, while the second longitudinal section 32 becomes shorter. This will be explained later in connection with the Figures 12explained even more clearly. Conversely, when the second movement element 14 moves in the axial forward direction 72 relative to the first movement element 12, the first longitudinal section 30 becomes shorter, while the second longitudinal section 32 becomes longer. This also occurs due to the movement of the traction means 18 by the drive unit 20, which, however, now moves the traction means 18 in the opposite direction.

[0039] In an analogous manner, Figure 9B a schematic traction mechanism configuration is shown, which, for example, is associated with Figure 2described movement device 58. In addition to the lengthening and simultaneous shortening of the first longitudinal section 30 and the second longitudinal section 32 on the traction means 18, an analogous movement of the further traction means 48 is provided on the opposite side symmetrically thereto (simultaneous or offset in time) in order to support the movement in the axial forward direction 72 of the movement device 58.

[0040] Figure 10 shows a schematic detailed view of a drive unit 20, 50. The Figure 10The schematically illustrated drive unit 20, 50 includes, in particular, a drive roller 88 around which the traction means 18, 48 is guided. The drive roller 88 can be driven in the usual way by an electric motor (not explicitly shown). When the traction means 18, 48 is guided around the drive roller 88, the former can, in particular, wrap around the drive roller 88 more than once to improve the power transmission from the drive roller 88 to the traction means 18, 48. Furthermore, a traction means tensioning means 34, 56 is indicated in the drive unit 20, 50, the function of which is to keep the traction means 18, 48 under a constant (pre-)tension.

[0041] This can be achieved, for example, in a known manner by the provided traction means tensioning means 34, 56 comprising a tensioning roller 90, which is pivotally mounted about a pivot bearing 92 and is held under a pretension such that the tensioning roller 90 presses against the traction means 18, 48, thereby extending a guide path of the traction means 18, 48. The traction means tensioning means 34, 56 is particularly useful when the coupling element 54, previously known from the preceding figures, is open, so that the two loops of the two traction means 18, 48 are not coupled to one another. In this state, the drive device 10 is inactive, and the traction means 18 and the additional traction means 48, unless otherwise held "taut," would hang loosely between the two movement elements 12, 14 and flutter back and forth between them in an uncontrolled manner.The traction means 18, 48 can undesirably impair the use of the movement device 58 without the support of the drive device 10. This is avoided by means of the traction means tensioning means 34, 56, as these compensate for or tighten "excess" lengths of the traction means 18, 48.

[0042] Figure 11 shows a schematic detailed view of a traction mechanism deflection device. Figure 11 The traction mechanism deflection device 22, 52 shown corresponds largely in its basic structure to that described in connection with Figure 10 described drive unit 20, 50, but instead of the drive roller 88, a deflection roller 86 is provided, on which the traction means 18, 48 is deflected around the axis of rotation of the deflection roller 86.

[0043] The Figures 10 and 11The drive unit 20, 50 and traction means deflection device 22, 52 shown are merely simplified, with the drive motor not being explicitly shown, particularly in connection with the drive unit 20, 50. Furthermore, the control device 28 or the further control device 28a, which can optionally be integrated into the drive unit 20, 50, has also been omitted from the drive unit 20, 50. Similarly, in Figure 11In the case of the traction mechanism deflection device 22, 52, the sensor unit 26 or the further sensor unit 26a as well as an optionally also included energy storage device 24 are omitted. The control device 28, 28a, sensor unit 26, 26a and / or energy storage device 24 can optionally be provided separately from the drive unit 20, 50 or the traction mechanism deflection device 22, 52, wherein only a corresponding electrical connection option, for example, a cable connection, must be provided.

[0044] Figure 12shows a visualization of the spatial movement of the movement device 58 in the axial forward direction 72. A first sequence of relative positionings of the two movement elements 12, 14 occurring one after the other during the movement is shown in sequence a). Starting from a state in which the first movement element 12 and the second movement element are at the same height in the axial movement direction 72, the forward movement in the axial movement direction 72 begins by the first movement element 12 being displaced / moved forward in the axial movement direction 72 relative to the second movement element 14. For this purpose, the first longitudinal section 30 is lengthened by the traction mechanism drive 16 and / or the further traction mechanism drive 46, while at the same time the second longitudinal section 32 is shortened. This continues continuously in sequence a).In the final state of sequence a), the change in length of the first length section 30 and the second length section 32 is finally reversed, with the traction mechanism drive 16 and / or the further traction mechanism drive 46 now pulling the second movement element 14 behind in the axial movement direction 72 relative to the first movement element 12, until finally, as can be seen in the final state in sequence b), the second movement element 14 is located in front of the first movement element 12 in the axial movement direction 72.This relative forward movement of the second movement element 14 relative to the first movement element 12 reaches its final state at the beginning of sequence c), wherein the first movement element 12 is then again pulled behind the second movement element 14 in the axial movement direction 72 by the traction mechanism drive 16 and / or the further traction mechanism drive 46, until finally at the end of sequence c) the relative initial state of sequence a) is reached again.

[0045] The individual partial movement sequences progressing in sequences a), b), and c) can be actively initiated by a user of the movement device 58, wherein the sensor unit 26 assigned to the drive device 10 detects the user's intention to move by detecting an acceleration of the moving movement element 12, 14. The control device 28, 28a receives the detected acceleration and recognizes the desired movement therein. The drive unit 20, 50 is then controlled accordingly by the control device 28, 28a, so that the intended movement sequence is supported. As already indicated above, it is also conceivable that, for training purposes, resistance is applied to the movement sequence instead of supporting it, in order to achieve an additional training effect. In this case, the drive unit 20, 50, in particular, can be used as a variably adjustable resistance.The precise sequence of motion support, such as step size, step speed, etc., can be individually adjusted and stored, for example, as a parameter curve in the control device 28, 28a. It is also possible for the control device 28, 28a to have a self-learning algorithm that learns the user's motion sequence and adapts to it.

[0046] In addition to the movement in the axial direction of movement 72, the drive device 10 can also include a height component, so that a cyclical "upward" movement is also superimposed during the movement in the axial forward direction 72. This then corresponds to "lifting the feet" when walking.

[0047] Figure 13shows a flowchart of a method for moving two movement elements of a movement device in an axial forward direction. The method 100 begins at step 110 with the detection, by the sensor unit 26, of an inherent movement of the first movement element 12. This can, for example, be the acceleration occurring when the first movement element 12 is lifted or pushed forward, which is detected by the sensor unit 26. The method 100 is continued by a shortening 120, by the drive unit 20, of the first longitudinal section 30 and, at the same time, a lengthening 130, by the drive unit 20 of the second longitudinal section 32, such that the first movement element 12 is moved relative to the second movement element 14 in the axial forward direction 72. Subsequently, a detection 140, by the sensor unit 26, of an inherent movement of the second movement element 14 takes place.This can also be a detected acceleration, which occurs, for example, when the first movement element 12 is lowered relative to the second movement element 14 or when the second movement element 14 is raised relative to the first movement element 12. Due to the detected inherent movement, a shortening 150, by the drive unit 20, of the second longitudinal section 32 and an lengthening 160, by the drive unit 20, of the first longitudinal section 30 then takes place simultaneously with the shortening 150 of the second longitudinal section 32, so that the second movement element 14 is moved relative to the first movement element 12 in the axial forward direction 72.

[0048] The present method 100 is described by way of example only in connection with a single drive unit 20 and thus essentially corresponds to the method 100 for moving two movement elements 12, 14 of a movement device 58 in the axial forward direction 72 according to the exemplary movement device 58, as shown in Figure 2 Of course, additional method steps are to be added in an obvious way if, instead of the drive unit 20, a further drive unit 50 is used, as for example in connection with the exemplary movement devices 58 according to the Figures 2 to 6 intended. List of reference symbols

[0049] 10 Drive device 12 First movement element 14 Second movement element 16 Traction mechanism 18 Traction mechanism 20 Drive unit 22 Traction mechanism deflection device 24 Energy storage device 24 Further energy storage device 26 Sensor unit 26 Further sensor unit 28 Control device 28 Further control device 30 First length section 32 Second length section 34 Traction mechanism tensioning device 36 End 38 End 40 Point 42 Point 44 Intersection point 46 Further traction mechanism 48 Further traction mechanism 50 Further drive unit 52 Further traction mechanism deflection device 54 Coupling element 56 Further traction mechanism tensioning device 58 Movement device 60 Binding elements 62 Retaining element 64 Retaining element 66 Axial backward direction 68 Fixed bearing 70 Fixed bearing 72 Axial forward direction 74 Shoe 74aShoe 76Roller 78Roller 80aFirst coupling element 80bSecond coupling element 82Groove 84Key 86Deflection roller 88Drive roller 90Tensioning roller 92Pivot bearing 100Procedure 110Detect 120Shorten 130Extend 140Detect 150Shorten160Extend

Claims

1. A drive device (10) for two moving elements (12, 14) which are attachable to the extremities of a user, comprising: - a traction means drive (16) with a traction means (18) and a drive unit (20), - a traction means deflector (22); - an energy storage device (24); - a sensor unit (26) for detecting a spatial inherent movement; and - a controller (28) for controlling the drive unit (20); - wherein the drive unit (20) and the traction means deflector (22) are attachable to a first one of the two moving elements (12), and - wherein the traction means drive (16) is designed such that the traction means (18) comprises a first and a second length section (30, 32), the respective first and second lengths of which are periodically varied by means of the drive unit (20) when the drive device (10) is used, wherein an increase in length of the first length section (30) is accompanied by a decrease in length of the second length section (32) and vice versa.

2. The drive device (10) according to claim 1, wherein the traction means deflector (22) and / or the drive unit (20) comprises traction means tensioning means (34).

3. The drive device (10) according to claim 1 or 2, wherein the traction means (18) comprises two ends (36, 38) which are not connected to one another, and which are attachable to a second one of the two moving elements (14) at two different points (40, 42) spaced apart.

4. The drive device (10) according to claim 3, wherein a vertical projection of the traction means (18) on a plane defined by the two moving elements (12, 14) has a point of intersection (44).

5. The drive device (10) according to claim 4, wherein the first length section (30) extends between the point of intersection (44) and the drive unit (20), and wherein the second length section (32) extends between the point of intersection (44) and the traction means deflector (22).

6. The drive device (10) according to claim 1 or 2, wherein the drive unit (20) further comprises: - a further traction means drive (46) with a further traction means (48) and a further drive unit (50), wherein the further drive unit (50) is attachable to a second one of the two moving elements (14), - a further traction means deflector (52), and - a coupling element (54) which fixes the traction means (18) and the further traction means (48) in its interior.

7. The drive device (10) according to claim 6, wherein the further traction means deflector (52) and / or the further drive unit (50) comprise(s) further traction means tensioning means (56).

8. The drive device (10) according to claim 6 or 7, wherein the traction means (18) and the further traction means (48) each form a self-contained loop.

9. The drive device (10) according to any one of claims 6 to 8, wherein the first length section (30) extends between the coupling element (54) and the drive unit (20), and wherein the second length section (32) extends between the coupling element (54) and the traction means deflector (22).

10. A moving device (58) with a drive device (10) according to any one of the preceding claims, further comprising the two moving elements (12, 14) and binding elements (60) to detachably connect the two moving elements (12, 14) to a respective extremity of a user.

11. The moving device (58) according to claim 10, wherein the two moving elements (12, 14) comprise retaining elements (62, 64) on one side, which hinder a movement in an axial rearward direction (66).

12. The moving device (58) of claim 10, wherein the moving device (58) further comprises two spatially fixed bearings (68, 70), each movably mounting one of the two moving elements (12, 14).

13. A method (100) for moving two moving elements (12, 14) of a moving device (58) in an axial forward direction (72), wherein the moving device (58) comprises the two moving elements (12, 14) and a drive device (10), the two moving elements (12, 14) are provided with binding elements (60) which are detachably connected to a respective extremity of a user, and the drive device (10) is provided with a traction means drive (16), comprising a traction means (18) and a drive unit (20), a traction means deflector (22), an energy storage device (24), a sensor unit (26) for detecting a spatial inherent movement and a controller (28) for controlling the drive unit (20), wherein the drive unit (20) and the traction means deflector (22) are attached to a first one of the two moving elements (12), and wherein the method (100) comprises: detecting (110), by the sensor unit (26), an inherent movement of the first moving element (12); shortening (120), by the drive unit (20), the first length section (30); elongating (130), by the drive unit (20), the second length section (32), simultaneously with the shortening (120) of the first length section (30), so that the first moving element (12) is moved relative to the second moving element (14) in the axial forward direction (72); detecting (140), by the sensor unit (26), an inherent movement of the second moving element (14); shortening (150), by the drive unit (20), the second length section (32); and elongating (160), by the drive unit (20), the first length section (30), at the same time as the shortening (150) of the second length section (32), so that the second moving element (14) is moved relative to the first moving element (12) in the axial forward direction (72).

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